Method, device and system for determining road extension set and storage medium
By determining the target reference point and filtering the accessible road set during the vehicle driving, circulating traversal and reacquisition of accessible roads, the problem of low calculation efficiency of road extension range in the prior art is solved, and a more efficient calculation process is achieved.
Patent Information
- Application Number
- CN202411959750.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-04-25
AI Technical Summary
When calculating the road extension range, the calculation amount is too large when the road network extension distance is too long, resulting in service performance problems and it is difficult to improve the efficiency of determining the road extension range.
By determining the target reference point during the vehicle's driving, a collection of accessible roads is obtained and filtered to avoid repeated calculations. The accessible roads are circulated and the roads with an reachable distance less than the maximum extension distance are selected as the new target reference point, and reacquire the accessible road set until all roads reach the maximum extension distance.
Reduce repeated calculations of the same path, save calculation time and resources, and improve the efficiency of determining the road extension range.
Smart Images
Figure CN119879969A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of intelligent transportation technology, and in particular to a method, device, system and storage medium for determining a road extension set. Background Art
[0002] Road extension range refers to the range of a vehicle’s reach based on factors such as the vehicle’s current location, vehicle status (such as remaining fuel / power, performance parameters), traffic conditions (such as road congestion, accident warnings), weather conditions (rain, snow, and fog affect sight and road friction), etc. In an increasingly complex traffic environment, real-time calculation of road extension range has become a key component of intelligent transportation systems and autonomous driving technology. In existing technologies, road extension range is often calculated based on the current location and certain constraints, such as driving distance, driving time, and other factors. However, if the road network extends too long and the amount of calculation is too large, the service will have performance issues.
[0003] Therefore, how to provide a method for determining a road extension set to improve the efficiency of determining the road extension range has become a technical problem that needs to be solved urgently. Summary of the invention
[0004] The present application provides a method, device, system and storage medium for determining a road extension set, so as to improve the efficiency of determining a road extension range.
[0005] The present application provides a method for determining a road extension set, comprising:
[0006] During vehicle driving, determine the target reference point;
[0007] Obtaining a set of reachable roads corresponding to the target reference point;
[0008] Filtering the reachable road set;
[0009] Determine whether the set of reachable roads after filtering is empty;
[0010] When the filtered reachable road set is not empty, entering the reachable road set into the first set;
[0011] Loop through the first set, and take out the roads with the shortest reachable distance in the first set one by one;
[0012] When there is no road whose reachable distance is less than the maximum extension distance, the road whose reachable distance is greater than the maximum extension distance is entered into the second set;
[0013] When there is a road whose reachable distance is less than the maximum extension distance, determine the road whose reachable distance is less than the maximum extension distance and select the position farthest from the vehicle as a new target reference point, and re-acquire a new reachable road set based on the new target reference point and enter it into the first set;
[0014] When the first set is empty, the second set is determined to be a road extension set.
[0015] The beneficial effect of the present application is that during the driving process of the vehicle, the present application determines the target reference point, obtains the corresponding reachable road set, and filters the reachable road set on this basis to avoid repeated calculation of the same path, thereby saving calculation time. It is further determined whether the filtered reachable road is empty. If it is not empty, the reachable set is entered into the first set, and the reachable roads are traversed in a loop to see if they all reach the maximum extension distance. When there is a road less than the maximum extension distance, the position farthest from the vehicle is selected from the road with a reachable distance less than the maximum extension distance as the new target reference point, and a new reachable road set is obtained again. Since there is no need to recalculate from the original starting point, repeated calculation of the same path is reduced, calculation time is reduced, calculation resources are saved, calculation efficiency is improved, and the efficiency of determining the road extension range is improved.
[0016] In one embodiment, obtaining a set of reachable roads corresponding to the target reference point includes:
[0017] Obtain the road ID closest to the location of the target reference point;
[0018] Acquire preset information of the road according to the road ID, wherein the preset information at least includes the length of the road and the name of the road;
[0019] A set of reachable roads corresponding to the target reference point is obtained according to the preset information of the road.
[0020] In one embodiment, the acquiring a set of reachable roads corresponding to the target reference point according to preset information of the road includes:
[0021] Determine the position of the road in the road topology according to the name of the road;
[0022] Other roads connected to the road are determined as reachable roads according to the position of the road in the road topology.
[0023] In one embodiment, the method further comprises:
[0024] When obtaining the road ID closest to the location of the target reference point, the road ID closest to the location of the target reference point is entered into the third set.
[0025] In one embodiment, filtering the reachable road set includes:
[0026] Comparing the reachable road set with the third set;
[0027] Determine the road IDs that are the same between the reachable road set and the third set according to the comparison result;
[0028] The road IDs identical to those in the third set are deleted from the reachable road set.
[0029] In one embodiment, the method further comprises:
[0030] When a road with a reachable distance greater than a maximum extension distance among the roads with the shortest reachable distance is entered into the second set, determining whether the road extension end point is located between the road sections recorded in the road network;
[0031] When the road extension endpoint is located between target road segments recorded in the road network, determining a linear reference of the extension endpoint in the target road segment according to the position of the extension endpoint in the target road segment;
[0032] The linear reference of the extension end point on the target road segment is entered into the second set as the description information of the extension end point position.
[0033] In one embodiment, the method further comprises:
[0034] When the first set is empty, determining specific coordinates of each extension end point according to a linear reference of the extension end point on the target road section;
[0035] The extension endpoints are sorted according to the specific coordinates, and adjacent extension endpoints are connected to form an extension surface corresponding to the vehicle.
[0036] The present application also provides a device for determining a road extension set, comprising:
[0037] A first determination module is used to determine a target reference point during vehicle driving;
[0038] An acquisition module, used to acquire a set of reachable roads corresponding to the target reference point;
[0039] A filtering module, used for filtering the reachable road set;
[0040] The first judgment module is used to judge whether the set of reachable roads after filtering is empty;
[0041] A first entry module, configured to enter the reachable road set into a first set when the reachable road set after filtering is not empty;
[0042] A traversal module, used for traversing the first set in a loop, and taking out the roads with the shortest reachable distance in the first set one by one;
[0043] A second entry module, configured to enter roads with reachable distances greater than the maximum extension distance into the second set when there is no road with reachable distances less than the maximum extension distance;
[0044] The second input module is further used for, when there is a road with a reachable distance less than the maximum extension distance, determining that the position farthest from the vehicle is selected from the road with a reachable distance less than the maximum extension distance as a new target reference point, and re-acquiring a new reachable road set based on the new target reference point and inputting it into the first set;
[0045] The second determination module is configured to determine that the second set is a road extension set when the first set is empty.
[0046] In one embodiment, the acquisition module includes:
[0047] The first acquisition submodule is used to acquire the road ID closest to the location of the target reference point;
[0048] A second acquisition submodule is used to acquire preset information of the road according to the road ID, wherein the preset information at least includes the length of the road and the name of the road;
[0049] The third acquisition submodule is used to acquire a set of reachable roads corresponding to the target reference point according to the preset information of the road.
[0050] In one embodiment, the third acquisition submodule is further used to:
[0051] Determine the position of the road in the road topology according to the name of the road;
[0052] Other roads connected to the road are determined as reachable roads according to the position of the road in the road topology.
[0053] In one embodiment, the apparatus further comprises:
[0054] The third entry module is used to enter the road ID closest to the location of the target reference point into the third set when obtaining the road ID closest to the location of the target reference point.
[0055] In one embodiment, the filtering module comprises:
[0056] A comparison submodule, used for comparing the reachable road set with the third set;
[0057] A determination submodule, used for determining the same road IDs in the reachable road set and the third set according to the comparison result;
[0058] The deleting submodule is used to delete the road ID that is the same as the road ID in the third set from the reachable road set.
[0059] In one embodiment, the apparatus further comprises:
[0060] A second judgment module is used to judge whether the end point of the road extension is located between the road sections recorded in the road network when the road with the shortest reachable distance having a reachable distance greater than the maximum extension distance is entered into the second set;
[0061] A third determination module is used to determine the linear reference of the extension end point in the target road section according to the position of the extension end point in the target road section when the road extension end point is located between the target road sections recorded in the road network;
[0062] The second input module is further used to input the linear reference of the extension end point on the target road section into the second set as the description information of the extension end point position.
[0063] In one embodiment, the apparatus further comprises:
[0064] A fourth determination module, configured to determine specific coordinates of each extension end point according to a linear reference of the extension end point on the target road section when the first set is empty;
[0065] The sorting module is used to sort the extension endpoints according to the specific coordinates and connect adjacent extension endpoints to form an extension surface corresponding to the vehicle.
[0066] The present application also provides a system for determining a road extension set, comprising:
[0067] at least one processor; and,
[0068] a memory communicatively connected to the at least one processor; wherein,
[0069] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to implement the method for determining the road extension set described in any one of the above embodiments.
[0070] The present application also provides a computer-readable storage medium. When the instructions in the storage medium are executed by a processor corresponding to the road extension set determination system, the road extension set determination system can implement the road extension set determination method recorded in any of the above embodiments.
[0071] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings.
[0072] The technical solution of the present application is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS
[0073] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:
[0074] Figure 1 A flowchart of a method for determining a road extension set in one embodiment of the present application;
[0075] Figure 2 A flowchart of road extension combined with determination in one embodiment of the present application;
[0076] Figure 3 A schematic diagram of a road linear reference in an embodiment of the present application;
[0077] Figure 4 A schematic diagram of the reachable range of a road extension in an embodiment of the present application;
[0078] Figure 5 It is a schematic diagram of a device for determining a road extension set in one embodiment of the present application;
[0079] Figure 6 Schematic diagram of the hardware structure of a system for determining a road extension set in one embodiment of the present application. DETAILED DESCRIPTION
[0080] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application and are not used to limit the present application.
[0081] Figure 1 Flow chart of a method for determining a road extension set in one embodiment of the present application. Figure 1 As shown, the method can be implemented as the following steps S101-S109:
[0082] In step S101, during the vehicle driving process, a target reference point is determined;
[0083] In step S102, a set of reachable roads corresponding to the target reference point is obtained;
[0084] In step S103, the reachable road set is filtered;
[0085] In step S104, it is determined whether the set of reachable roads after filtering is empty;
[0086] In step S105, when the filtered reachable road set is not empty, the reachable road set is entered into the first set;
[0087] In step S106, the first set is traversed in a loop, and the roads with the shortest reachable distance in the first set are taken out one by one;
[0088] In step S107, when there is no road whose reachable distance is less than the maximum extension distance, the road whose reachable distance is greater than the maximum extension distance is entered into the second set;
[0089] In step S108, when there is a road whose reachable distance is less than the maximum extension distance, the position farthest from the vehicle is selected from the roads whose reachable distance is less than the maximum extension distance as a new target reference point, and a new reachable road set is re-acquired based on the new target reference point and entered into the first set;
[0090] In step S109, when the first set is empty, the second set is determined to be a road extension set.
[0091] During the driving process of the vehicle, a target reference point is determined, wherein the target reference point can be the current position of the vehicle or a predetermined point of interest (POI), which is used as the starting point of the analysis.
[0092] Obtaining a set of reachable roads corresponding to the target reference point. After the target reference point is determined, expansion is performed through the target reference point to obtain a corresponding set of reachable roads. Figure 2 This is a flow chart of road extension combined with determination in one embodiment of the present application, such as Figure 2As shown, the road ID closest to the location of the target reference point is obtained, for example, the latitude and longitude coordinates of the target reference point are obtained through GPS or other positioning technology; then, the road segment closest to the location of the target reference point is searched to obtain its road ID. In this step, the location of the target reference point is usually projected onto the nearest actual road. The preset information of the road is obtained according to the road ID, wherein the preset information at least includes the length of the road and the name of the road, and may also include information such as the number of lanes and speed limit, which is helpful for understanding and planning the possibility and restrictions of vehicles traveling along this road. Then, the set of reachable roads corresponding to the target reference point is obtained according to the preset information of the road, for example, according to the name of the road or other identification information, the position of the road in the road topology is determined, and the exact position of this road in the network is determined. Since the road topology describes the connection mode between roads, that is, which roads are connected or intersected end to end, other roads connected to the road can be determined as reachable roads according to the position of the road in the road topology.
[0093] The reachable road set is filtered. Figure 2 As shown, in order to improve the calculation efficiency, when obtaining the road ID closest to the location of the target reference point, the road ID closest to the location of the target reference point is entered into the third set to form the reached road set. Since the reached road set must be within the reachable range, no further calculation is required. Therefore, the reachable road set can be filtered through the third set. Specifically, the reachable road set is compared with the third set; the road IDs that are the same between the reachable road set and the third set are determined according to the comparison result; and the road IDs that are the same as those in the third set are deleted from the reachable road set.
[0094] Determine whether the set of reachable roads after filtering is empty; Figure 2As shown, when the reachable road set after filtering is not empty, the reachable road set is entered into the first set, that is, the road set to be reached is formed, and then the road set to be reached can be traversed to determine whether the road to be reached is within the maximum extension distance. Therefore, the first set is traversed in a loop, and the roads with the shortest reachable distance in the first set are taken out one by one; when there is a road with a reachable distance less than the maximum extension distance, it means that the maximum extension distance has not been reached, so the road can be further extended. At this time, the present application determines that the position farthest from the vehicle in the road with a reachable distance less than the maximum extension distance is selected as the new target reference point, and re-acquires a new reachable road set based on the new target reference point and enters it into the first set. By determining the new target reference point, the present application does not need to calculate the road between the starting point and the new target reference point again, thereby improving the calculation efficiency. When there is no road with a reachable distance less than the maximum extension distance, it means that the road has been extended to the maximum extension distance, so the road with a reachable distance greater than the maximum extension distance is entered into the second set. When the first set is empty, the second set is determined to be a road extension set.
[0095] When the road with the maximum extension distance is recorded in the second set, since the end point is likely to fall in the middle of the road, in one embodiment, when the road with the shortest reachable distance and the reachable distance greater than the maximum extension distance is recorded in the second set, it is determined whether the road extension end point is located between the road sections recorded in the road network. When the calculated path extension exceeds the set maximum extension distance, but the end point is not exactly located at a node clearly marked in the road network, it is checked whether the extension end point falls within a certain road section, that is, its relative position in the road network is determined. When the road extension end point is located between the target road sections recorded in the road network, the linear reference of the extension end point in the target road section is determined according to the position of the extension end point in the target road section, and its specific position in the linear direction should be further determined, which usually involves geometric and mathematical operations, such as using linear interpolation to estimate, for example, determining the position ratio of the end point in the road section, and taking the ratio as the linear reference position, and recording it together in the second set for subsequent analysis or recovery of path planning, that is, the linear reference of the extension end point in the target road section is recorded in the second set as the description information of the position of the extension end point.
[0096] Figure 3 Schematic diagram of road linear reference in one embodiment of the present application, such as Figure 3 As shown in , after obtaining the extended result set, we still need to calculate the end point, because the end point of the extension does not necessarily fall exactly at the end point of the road section, we need to intercept the road section to obtain a linear reference. Figure 3As shown in the figure, road1 extends 300 meters to road2, and the end point of the extension is point A. Point A cuts road2 into two parts, the first half is 65 meters long, and the second half is 50 meters long. The linear reference of road2 is 65 / (65+50)=0.565217; between road1 and road2, road_n1, road_n2, ..., road_nn are passed through. We record the sections passed through in the through field, with the structure of [road_n1_dis1, road_n2_dis2, ..., road_nn_disn], where dis1, dis2, ..., disn represent the distance between the section and road. Finally, the extension result is recorded in the database, and each record represents an extended route. The table structure is as follows:
[0097] Table 1 Extended result data table
[0098] Fields meaning type illustrate id Auto-increment primary key Int Start from 1 linkId Road ID String Unique road sign extendDis Extended distance Double through Passed road section Array endLink End location road id String reference End location road linear referencing Double Range > 0 and <= 1
[0099] In one embodiment, when the first set is empty, the specific coordinates of each extension end point are determined according to the linear reference of the extension end point on the target road section; the extension end points are sorted according to the specific coordinates, and adjacent extension end points are connected to form an extension surface corresponding to the vehicle. Since the reachable range is a surface enclosed by the extension end points. Figure 4 Schematic diagram of the reachable range of road extension in one embodiment of the present application, such as Figure 4 As shown in the figure, extending 300 meters from point A, the reachable end points are p1, p2, p3, and p4. Taking the four points as the shape points of the reachable range, the reachable range area can be obtained. In the actual calculation process, the link (endLink) where the four points p1, p2, p3, and p4 are located is recorded in the database. We query the records in the table through the link (linkId) where point A is located and the extended distance (extendDis = 300), and then calculate the exact coordinates of p1, p2, p3, and p4 based on the linear reference (reference) of the end position road. After obtaining the specific coordinates, we sort the point set in counterclockwise order to enclose the points into a surface.
[0100] This application can be applied to online computing as well as offline. Through the algorithm of prefabricated data, the computing time can be further greatly reduced, the concurrency capability of the system can be improved, computing resources can be saved, and space can be exchanged for time. Since real-time computing is affected by the extension distance, the larger the extension distance, the larger the amount of data for recursive query and the more time-consuming it is, we perform offline computing and cache the extension results. In the actual calling process, we only need to do simple queries and linear reference restoration calculations to get the expected results, thereby greatly reducing the time complexity and improving system performance.
[0101] The beneficial effect of the present application is that during the driving process of the vehicle, the present application determines the target reference point, obtains the corresponding reachable road set, and filters the reachable road set on this basis to avoid repeated calculation of the same path, thereby saving calculation time. It is further determined whether the filtered reachable road is empty. If it is not empty, the reachable set is entered into the first set, and the reachable roads are traversed in a loop to see if they all reach the maximum extension distance. When there is a road less than the maximum extension distance, the position farthest from the vehicle is selected from the road with a reachable distance less than the maximum extension distance as the new target reference point, and a new reachable road set is obtained again. Since there is no need to recalculate from the original starting point, repeated calculation of the same path is reduced, calculation time is reduced, calculation resources are saved, calculation efficiency is improved, and the efficiency of determining the road extension range is improved.
[0102] In one embodiment, the above step S102 may be implemented as the following steps A1-A3:
[0103] In step A1, the road ID closest to the target reference point is obtained;
[0104] In step A2, the preset information of the road is obtained according to the road ID, wherein the preset information at least includes the length of the road and the name of the road;
[0105] In step A3, a set of reachable roads corresponding to the target reference point is obtained according to preset information of the road.
[0106] In one embodiment, the above step A3 may be implemented as the following steps A31-A32:
[0107] In step A31, the position of the road in the road topology is determined according to the name of the road;
[0108] In step A32, other roads connected to the road are determined as reachable roads according to the position of the road in the road topology.
[0109] In one embodiment, the method can also be implemented as follows:
[0110] When obtaining the road ID closest to the location of the target reference point, the road ID closest to the location of the target reference point is entered into the third set.
[0111] In one embodiment, the above step S103 may be implemented as the following steps B1-B3:
[0112] In step B1, the reachable road set is compared with the third set;
[0113] In step B2, determining the road IDs that are the same as those in the reachable road set and the third set according to the comparison result;
[0114] In step B3, the road IDs identical to those in the third set are deleted from the reachable road set.
[0115] In one embodiment, the method can also be implemented as the following steps C1-C3:
[0116] In step C1, when a road with a reachable distance greater than a maximum extension distance among the roads with the shortest reachable distance is entered into the second set, it is determined whether the end point of the road extension is located between the road sections recorded in the road network;
[0117] In step C2, when the road extension endpoint is located between target road segments recorded in the road network, a linear reference of the extension endpoint in the target road segment is determined according to the position of the extension endpoint in the target road segment;
[0118] In step C3, a linear reference of the extension end point on the target road segment is entered into the second set as description information of the extension end point position.
[0119] In one embodiment, the method can also be implemented as the following steps D1-D2:
[0120] In step D1, when the first set is empty, the specific coordinates of each extension end point are determined according to the linear reference of the extension end point on the target road section;
[0121] In step D2, the extension endpoints are sorted according to the specific coordinates, and adjacent extension endpoints are connected to form an extension surface corresponding to the vehicle.
[0122] In one embodiment of the present application, various types of information are loaded into the extended surface so that the car owner or the intelligent driving system can use this information, for example, the location of the charging station, the location of the restaurant, etc.
[0123] Figure 5 FIG. 1 is a schematic diagram of a device for determining a road extension set in an embodiment of the present application. Figure 5 As shown, including:
[0124] The first determination module 501 is used to determine the target reference point during the vehicle driving process;
[0125] An acquisition module 502 is used to acquire a set of reachable roads corresponding to the target reference point;
[0126] A filtering module 503, used to filter the reachable road set;
[0127] A first judgment module 504 is used to judge whether the set of reachable roads after filtering is empty;
[0128] A first entry module 505, configured to enter the reachable road set into the first set when the reachable road set after filtering is not empty;
[0129] A traversal module 506 is used to traverse the first set in a loop and extract the roads with the shortest reachable distance in the first set one by one;
[0130] A second entry module 507, configured to enter roads with reachable distances greater than the maximum extension distance into the second set when there is no road with reachable distances less than the maximum extension distance;
[0131] The second input module 507 is further configured to, when there is a road whose reachable distance is less than the maximum extension distance, determine the position farthest from the vehicle among the roads whose reachable distance is less than the maximum extension distance as a new target reference point, and re-acquire a new reachable road set based on the new target reference point and input it into the first set;
[0132] The second determining module 508 is configured to determine that the second set is a road extension set when the first set is empty.
[0133] In one embodiment, the acquisition module includes:
[0134] The first acquisition submodule is used to acquire the road ID closest to the location of the target reference point;
[0135] A second acquisition submodule is used to acquire preset information of the road according to the road ID, wherein the preset information at least includes the length of the road and the name of the road;
[0136] The third acquisition submodule is used to acquire a set of reachable roads corresponding to the target reference point according to the preset information of the road.
[0137] In one embodiment, the third acquisition submodule is further used to:
[0138] Determine the position of the road in the road topology according to the name of the road;
[0139] Other roads connected to the road are determined as reachable roads according to the position of the road in the road topology.
[0140] In one embodiment, the apparatus further comprises:
[0141] The third entry module is used to enter the road ID closest to the location of the target reference point into the third set when obtaining the road ID closest to the location of the target reference point.
[0142] In one embodiment, the filtering module comprises:
[0143] A comparison submodule, used for comparing the reachable road set with the third set;
[0144] A determination submodule, used for determining the same road IDs in the reachable road set and the third set according to the comparison result;
[0145] The deleting submodule is used to delete the road ID that is the same as the road ID in the third set from the reachable road set.
[0146] In one embodiment, the apparatus further comprises:
[0147] A second judgment module is used to judge whether the end point of the road extension is located between the road sections recorded in the road network when the road with the shortest reachable distance having a reachable distance greater than the maximum extension distance is entered into the second set;
[0148] A third determination module is used to determine the linear reference of the extension end point in the target road section according to the position of the extension end point in the target road section when the road extension end point is located between the target road sections recorded in the road network;
[0149] The second input module is further used to input the linear reference of the extension end point on the target road section into the second set as the description information of the extension end point position.
[0150] In one embodiment, the apparatus further comprises:
[0151] A fourth determination module, configured to determine specific coordinates of each extension end point according to a linear reference of the extension end point on the target road section when the first set is empty;
[0152] The sorting module is used to sort the extension endpoints according to the specific coordinates and connect adjacent extension endpoints to form an extension surface corresponding to the vehicle.
[0153] Figure 6 FIG. 1 is a schematic diagram of the hardware structure of a system for determining a road extension set in an embodiment of the present application. Figure 6As shown, the road extension set determination system includes:
[0154] at least one processor 620; and,
[0155] A memory 604 in communication with the at least one processor 620; wherein,
[0156] The memory 604 stores instructions that can be executed by the at least one processor 620, and the instructions are executed by the at least one processor 620 to implement the method for determining the road extension set described in any of the above embodiments.
[0157] Reference Figure 6 The road extension set determination system 600 may include one or more of the following components: a processing component 602, a memory 604, a power component 606, a multimedia component 608, an audio component 610, an input / output (I / O) interface 612, a sensor component 614, and a communication component 616.
[0158] The processing component 602 generally controls the overall operation of the road extension set determination system 600. The processing component 602 may include one or more processors 620 to execute instructions to complete all or part of the steps of the above method. In addition, the processing component 602 may include one or more modules to facilitate the interaction between the processing component 602 and other components. For example, the processing component 602 may include a multimedia module to facilitate the interaction between the multimedia component 608 and the processing component 602.
[0159] The memory 604 is configured to store various types of data to support the operation of the road extension set determination system 600. Examples of such data include instructions for any application or method operating on the road extension set determination system 600, such as text, pictures, videos, etc. The memory 604 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
[0160] The power supply component 606 provides power to various components of the road extension set determination system 600. The power supply component 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the road extension set determination system 600.
[0161] The multimedia component 608 includes a screen that provides an output interface between the road extension set determination system 600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 608 may also include a front camera and / or a rear camera. When the road extension set determination system 600 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
[0162] The audio component 610 is configured to output and / or input audio signals. For example, the audio component 610 includes a microphone (MIC), and when the road extension set determination system 600 is in an operation mode, such as an alarm mode, a recording mode, a voice recognition mode, and a voice output mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 604 or sent via the communication component 616. In some embodiments, the audio component 610 also includes a speaker for outputting audio signals.
[0163] I / O interface 612 provides an interface between processing component 602 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.
[0164] The sensor assembly 614 includes one or more sensors for providing various aspects of status assessment for the road extension set determination system 600. For example, the sensor assembly 614 may include an acoustic sensor. In addition, the sensor assembly 614 may detect the open / closed state of the road extension set determination system 600, the relative positioning of components, such as the display and keypad of the road extension set determination system 600, the sensor assembly 614 may also detect the operating state of the road extension set determination system 600 or a component of the road extension set determination system 600, the road extension set determination system 600 orientation or acceleration / deceleration and the temperature change of the road extension set determination system 600. The sensor assembly 614 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 614 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 614 may also include an acceleration sensor or a temperature sensor.
[0165] The communication component 616 is configured to enable the road extension set determination system 600 to provide the ability to communicate with other devices and cloud platforms in a wired or wireless manner. The road extension set determination system 600 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 616 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 616 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.
[0166] In an exemplary embodiment, the road extension set determination system 600 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to execute the road extension set determination method described in any of the above embodiments.
[0167] The present application also provides a computer-readable storage medium. When the instructions in the storage medium are executed by a processor corresponding to the road extension set determination system, the road extension set determination system can implement the road extension set determination method recorded in any of the above embodiments.
[0168] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.
[0169] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0170] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0171] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0172] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.
Claims
1. A method for determining a road extension set, characterized in that: include: During vehicle driving, determine the target reference point; Obtaining a set of reachable roads corresponding to the target reference point; Filtering the reachable road set; Determine whether the set of reachable roads after filtering is empty; When the filtered reachable road set is not empty, entering the reachable road set into the first set; Loop through the first set, and take out the roads with the shortest reachable distance in the first set one by one; When there is no road whose reachable distance is less than the maximum extension distance, the road whose reachable distance is greater than the maximum extension distance is entered into the second set; When there is a road whose reachable distance is less than the maximum extension distance, determine the road whose reachable distance is less than the maximum extension distance and select the position farthest from the vehicle as a new target reference point, and re-acquire a new reachable road set based on the new target reference point and enter it into the first set; When the first set is empty, the second set is determined to be a road extension set.
2. The method according to claim 1, characterized in that The obtaining of a set of reachable roads corresponding to the target reference point includes: Obtain the road ID closest to the location of the target reference point; Acquire preset information of the road according to the road ID, wherein the preset information at least includes the length of the road and the name of the road; A set of reachable roads corresponding to the target reference point is obtained according to the preset information of the road.
3. The method according to claim 2, characterized in that The acquiring a set of reachable roads corresponding to the target reference point according to preset information of the road includes: Determine the position of the road in the road topology according to the name of the road; Other roads connected to the road are determined as reachable roads according to the position of the road in the road topology.
4. The method according to claim 3, characterized in that The method further comprises: When obtaining the road ID closest to the location of the target reference point, the road ID closest to the location of the target reference point is entered into the third set.
5. The method according to claim 1, characterized in that The filtering of the reachable road set includes: Comparing the reachable road set with the third set; Determine the road IDs that are the same between the reachable road set and the third set according to the comparison result; The road IDs identical to those in the third set are deleted from the reachable road set.
6. The method according to claim 1, characterized in that The method further comprises: When a road with a reachable distance greater than a maximum extension distance among the roads with the shortest reachable distance is entered into the second set, determining whether the road extension end point is located between the road sections recorded in the road network; When the road extension endpoint is located between target road segments recorded in the road network, determining a linear reference of the extension endpoint in the target road segment according to the position of the extension endpoint in the target road segment; The linear reference of the extension end point on the target road segment is entered into the second set as the description information of the extension end point position.
7. The method according to claim 1, characterized in that The method further comprises: When the first set is empty, determining specific coordinates of each extension end point according to a linear reference of the extension end point on the target road section; The extension endpoints are sorted according to the specific coordinates, and adjacent extension endpoints are connected to form an extension surface corresponding to the vehicle.
8. A device for determining a road extension set, characterized in that: include: A first determination module is used to determine a target reference point during vehicle driving; An acquisition module, used to acquire a set of reachable roads corresponding to the target reference point; A filtering module, used for filtering the reachable road set; The first judgment module is used to judge whether the set of reachable roads after filtering is empty; A first entry module, configured to enter the reachable road set into a first set when the reachable road set after filtering is not empty; A traversal module, used for traversing the first set in a loop, and taking out the roads with the shortest reachable distance in the first set one by one; A second entry module, configured to enter roads with reachable distances greater than the maximum extension distance into the second set when there is no road with reachable distances less than the maximum extension distance; The second input module is further used for, when there is a road with a reachable distance less than the maximum extension distance, determining that the position farthest from the vehicle is selected from the road with a reachable distance less than the maximum extension distance as a new target reference point, and re-acquiring a new reachable road set based on the new target reference point and inputting it into the first set; The second determination module is configured to determine that the second set is a road extension set when the first set is empty.
9. A system for determining a road extension set, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to implement the method for determining a road extension set as described in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that: When the instructions in the storage medium are executed by a processor corresponding to the road extension set determination system, the road extension set determination system can implement the road extension set determination method as described in any one of claims 1 to 7.